diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
index 97c55e3d3..d24865ff5 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
@@ -43,6 +43,11 @@ public class Draw3dTargetsPipe
     @Override
     protected Void process(Pair<Mat, List<TrackedTarget>> in) {
         if (!params.shouldDraw) return null;
+        if (params.cameraCalibrationCoefficients == null
+                || params.cameraCalibrationCoefficients.getCameraIntrinsicsMat() == null
+                || params.cameraCalibrationCoefficients.getCameraExtrinsicsMat() == null) {
+            return null;
+        }
 
         for (var target : in.getRight()) {
             // draw convex hull